How a Six-Legged Robot Walk - with LX-16A Servo Motor and RaspberryPI

This hexapod robot is controlled by a Raspberry Pi and Python.
This video shows the three main gaits(walking types) of the hexapod.
The RaspberryPi solves inverse kinematics equation for the whole body of the robot, which means I, as a developer, have to write a minimum amount of code for the robot to move. Also, this allows the code to be very flexible or robust, since sending a few parameters - such as speed and a new position - to the Raspberry Pi will automatically generate desired motion.
I have listed some videos including the one on how to solve inverse kinematics below.
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